CN102265113B - Method for determining the rotation speed of an axisymmetrical vibrating sensor and inertial device for implementing said method - Google Patents
Method for determining the rotation speed of an axisymmetrical vibrating sensor and inertial device for implementing said method Download PDFInfo
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- CN102265113B CN102265113B CN200980152866.1A CN200980152866A CN102265113B CN 102265113 B CN102265113 B CN 102265113B CN 200980152866 A CN200980152866 A CN 200980152866A CN 102265113 B CN102265113 B CN 102265113B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5691—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to a method for determining the rotation speed of an axisymmetrical vibrating sensor (7) including a vibrating member (1) associated with control electrodes (4) and detection electrodes (5) for generating a vibration having a deformation with a periodicity of around nand having a variable position (T) based on the sensor rotation, characterised in that the method comprises the steps of: consecutively carrying out an evaluation of the rotation speed for at least 2N+1 positions of the vibration relative to the electrodes, the positions being geometrically offset relative to each other and the vibration being moved from one position to the other by the application of a precession control using a preset scale factor; identifying at least one harmonic deviation up to a rank N from 2N+1 evaluations; and determining a rotation speed from at least one of the evaluations from which the identified harmonic deviation has been subtracted.
Description
The present invention relates to a kind of method of rotational speed of definite rotational symmetry sensor, and the corresponding inertial equipment that comprises Axisymmetrical Vibration sensor.The invention particularly relates on the position of vibration and present humorous rolling land and depend on that described vibration is with respect to the sensor of the angle drift of the position of the shell of this facility.
Background of invention
In order to determine the orientation of carrier, especially for aircraft is navigated, the known inertial equipment with one or more Axisymmetrical Vibration sensor that uses, each Axisymmetrical Vibration sensor utilization has the resonator that exponent number is equal to or greater than four symmetry and can realizes the degeneration vibration mode of two identical and quadratures, it presents with respect to axis of symmetry and has the periodic deformation in n rank, that is, there is n doubly to the deformation with around the identical vibration mode of axis of symmetry revolution one week.In particular, the sensor on known use 2 rank, such as, comprise the bell vibration transducer of hemisphere of the electrode of suitable number, or such as the azimuth of vibration in two kinds of patterns wherein not orthogonal geometry but the quapason gyrotron of mode quadrature (that is, being offset in their mode).
Also known axes symmetric vibration sensor is suitable for free gyroscope pattern or rate gyroscope pattern.In free gyroscope pattern, vibration is held, but allows its position freely; When the orientation of carrier changes, vibration represents with respect to the position of pedestal the angle that carrier has turned over.
In rate gyroscope pattern, vibration is held and its position with respect to its pedestal keeps in fixed by applying suitable electronic control signal; Therefore the value of these control signals represents the rotational speed of carrier in inertial space.
Also known when gyrotron operates in free gyroscope pattern, this gyroscope presents the drift error that causes the variation on vibration position, even if be also like this when this carrier is not subject to any turning effort.This drift comprises two components, one constant component and an alternation drift component, wherein constant component is the order of magnitude in percent several years per hour for hemispherical resonant gyro, and alternation drift component is by humorous wave component, mainly, by having the humorous wave component of the harmonic wave of identical exponent number n and the exponent number twice of this vibration transducer with vibration transducer, this depends on the position of vibration.Use hemispherical resonant gyro, the harmonic wave that exponent number is n produces the drift error of the order of magnitude once per hour, and that the harmonic wave that exponent number is 2n produces is per hour ten/drift error of the order of magnitude once.
Knownly in workshop, carry out calibrate gyroscope and set up table of corrections, when these gyroscopes can be applied these table of corrections in use time.Yet drift error is not only the function of vibration position, or environment temperature and gyrostatic aging function.In practice, the potential of correction is limited.
In addition, from document US 2006/037417, known a kind of method, for measuring rotational speed by means of gyrotron, wherein regulation is compared the signal that records during the signal by means of model prediction and precalculated position precession to vibration.From this relatively, extract for upgrading the data of this model.Therefore this step is not directly involved in definite rotational speed, and relates to make likely to obtain the step about the better knowledge of this gyroscope behavior.Determine that rotational speed is gyroscope to be set to frequency vibration and the measurement precession with the twice of this gyrostatic natural mode shape.
Goal of the invention
The object of the invention is to determine the rotational speed simultaneous minimization drift error of rotational symmetry osciducer.
Summary of the invention
In order to reach this object, the invention provides a kind of method of rotational speed of definite Axisymmetrical Vibration sensor, this Axisymmetrical Vibration sensor has the vibrating member associated with control electrode and detecting electrode, using to produce to have and present the periodic deformation in n rank and there is the vibration as the variable position of the function of the rotation of sensor, the method is characterized in that and comprise the following steps:
Adjoining land is assessed this vibration with respect to the rotational speed of an at least 2N+1 position of these electrodes, these positions are geometrical offset relative to each other, and uses the scale factor of setting up in advance, by application precession control signal, vibration is moved on to another position from a position;
The order of identifying this vibration from 2N+1 assessment is up at least one harmonic wave drift of N; And
For deducting at least one assessment of identified harmonic wave drift, determine rotational speed.
Each assessment comprises the anharmonic wave drift in sensor speed, harmonic wave drift and the noise in this speed.This cognitive phase is up to the harmonic wave drift of N for identifying order, thereby can deduct this drift motion from least one assessment, determine the rotational speed that affected by this drift.
By means of the present invention, remaining drift error is very little thus, and is because of anharmonic wave drift and also because the harmonic wave drift of higher-order causes, but its amplitude is relatively little.Can during the initial calibration of equipment, compensate this error thus, only have the initial variation very little and that compensated of value to cause interference to the rotational speed that records of equipment.
Advantageously, this method comprises the step that deducts harmonic wave drift and these assessments are averaged from a plurality of assessments.
Therefore, be averaged and play the effect that reduces noise, the thus definite degree of accuracy of further improvement speed.
When input value is zero, the linear error producing for the Lineside encoding unit of the angle position of measuring vibrations is maximum, therefore can select angle for the measuring rotational speed detecting electrode output null value of (sending the signal that is input to angular encoder) avoiding.
Also suitably observe, described the present invention is with following operate: the drift of the harmonic wave of resonator causes the error of measuring in rotational speed between each position of vibration just: all rotational speeies that therefore need to make to be applied to sensor are all identical and constant from start to finish when these are measured, and this is because otherwise impossible cancellation harmonic wave drift term.In fact, the constraint of reality is the difference of knowing corresponding between each rotational speed during the time period of these measurements, and identical constant speed to be difference be purely zero special circumstances.
It is a kind of for realizing the inertial equipment of method of the present invention that the present invention also provides.This inertial equipment comprises the Axisymmetrical Vibration sensor with the vibrating member associated with control electrode and detecting electrode, be used for exciting this sensor with vibrative device, and comprise for assessment of this sensor the device with respect to the rotational speed in each position in 2N+1 position of these electrodes in this vibration, for applying precession control signal until this vibration arrives the device of each position of this 2N+1 position when using the scale factor of setting up in advance, and the device that is up at least one harmonic wave drift of N and determines rotational speed from described at least one assessment deduct this at least one harmonic wave drift identifying from least one assessment after for identifying the order of this vibration.
Brief Description Of Drawings
When reading the description of the of the present invention specific indefiniteness realization providing referring to accompanying drawing, other features and advantages of the present invention will manifest, wherein:
Fig. 1 is the axial cut-open view of summary along the I-I of Fig. 2, and it illustrates the bell vibration transducer of hemisphere;
Fig. 2 is the cut-open view along the II-II line of Fig. 1;
Fig. 3 is the block diagram that realization and the various application thereof of method of the present invention are shown; And
Fig. 4 is the schematic illustration of terrestrial globe and vibration transducer, and apply in its explanation north of seeking of the present invention.
Invention specifically describes
With reference to Fig. 1 and 2, the inertial equipment of the present invention of the vibration transducer with second order deformation is shown.This equipment comprises the bell vibration transducer 7 of hemisphere, and this sensor 7 comprises that the silica clock 1, the clock 1 that carry on pedestal 2 (also being made by silica) are surrounded by the shell 3 sealing, and can operate this sensor in a vacuum in known manner.
Or according to known way, the inside surface of clock 1 is the same with its bottom margin is plating, this bottom margin extends towards two pairs of control electrodes 4 and the two pairs of detecting electrodes 5, these electrodes be connected to aptly control and detecting unit 6 with in generation Fig. 2 by dot-and-dash line represents and its position is identified by the angle θ with respect to reference electrode 5 vibration 11.The position of vibration 11 is controlled by applying precession control signals to control electrode 4 by control module 6.
The method according to this invention comprises the following steps:
Adjoining land is assessed this vibration with respect to the rotational speed of an at least 2N+1 position of these electrodes, these positions are geometrical offset relative to each other, and by applying precession control signal in the scale factor with setting up in advance, this vibration is moved on to another position from a position;
The order of identifying this vibration from 2N+1 assessment is up at least one harmonic wave drift of N; And
From deducting at least one assessment of identified harmonic wave drift, determine rotational speed.
The model of the harmonic wave drift error in Axisymmetrical Vibration sensor has following form:
Wherein, θ e is electrical angle, bc
iand bs
iit is constant.In the situation that only consider that order is the speed that given electrical angle θ e is assessed in the drift of 1 harmonic wave as described below:
V=bc
1cos (2 θ e)+bs
1sin (2 θ e)+rotational speed+noise
By being written as
X=V-rotational speed
Obtain following formula
Bc
1cos (2 θ e)+bs
1sin (2 θ e)=X-noise
That is, three unknown number bc
1, bs
1and the formula of X.
By means of the present invention, in several positions, carry out and measure, wherein the number of position makes the formula that likely possesses enough numbers calculate these unknown numbers, that is, be three in this example.
For electrical angle θ
0, θ
1and θ
2, formula is:
Bc
1cos (2 θ
0)+bs
1sin (2 θ
0)=X+ noise
Bc
1cos (2 θ
1)+bs
1sin (2 θ
1)=X+ noise
Bc
1cos (2 θ
2)+bs
1sin (2 θ
2)=X+ noise
Calculate in a usual manner these unknown numbers.Once calculate bc
1, bs
1and X, just calculate harmonic wave drift and deduct this harmonic wave drift motion from one of these assessments and determine rotational speed.
In order to obtain even more accurate speed, from all three assessments, deduct this harmonic wave drift motion and obtain three rotational speeies, calculate its mean value and used as being rotational speed.
Therefore, method of the present invention comprises first step 8: vibration is positioned to primary importance θ
0.
Primary importance θ for vibration
0, this method comprises step 9: the rotational speed of assessment sensor.This to the assessment of rotational speed according to known way by carrying out with gyroscope in free gyroscope pattern or rate gyroscope pattern.
In free gyroscope pattern, during the very short time period, carry out a succession of measurement to vibration position, very little for the humorous wave period that the movement of vibrating during this time period is two and four with respect to exponent number.Especially, realizing the method for seeking in northern application, it is fixed that gyroscope is preferably stayed with respect to earth surface, thus the rotational speed that this gyrostatic maximum rotative speed is exactly the earth, that is, and the rotational speed of 15 degree per hour (°/h).If carry out the rotational speed of sensor in free gyroscope pattern on the period of ten seconds, the variation on vibration position can be ignored completely.
For fear of any variation of vibration position the error in order to make to avoid to be caused by the error that vibration position is encoded, preferably with low rotational speed, in rate gyroscope pattern, carry out assessment, although low than in free gyroscope pattern of the degree of accuracy of scale factor.
Then perform step 10: by revising vibration position to control electrode 4 application precession control signals, then perform step 13: assessment sensor is in the rotational speed of the position through revising.As example, this vibration is placed in two position θ through revising
1and θ
2(14), θ
1and θ
2from initial position θ
0geometrical offset, for example, skew reaches 20 ° and 90 °.
During calculation procedure 15, carry out the processing of assessment as described above.
In these two realizations, all can in the situation that considering deviation post, select initial position, so make in each position, because the simulating signal with being sent by detecting electrode 5 is relevant to the quality of digital signal conversion, corresponding detection signal has nonzero value.
When gyrostatic rotational speed is non-constant, still likely utilize the present invention.In this case, be useful on the variation in rotational speed is made and measured 18 and just enough for changing algebraically from these and deduct the means of the rotational speed evaluating in each position.As example, these steps are by realizing to the long-range gyroscope 19 of control and detecting unit 6 with vibration transducer 7 parallel joins.The absolute measurement of 19 pairs of speed of long-range gyroscope presents bad degree of accuracy, but the difference of measuring in very short time section is represented to good degree of accuracy.
Long-range gyroscope 19 preferably assigns to realize by the variation quadrature to recording, wherein these variations be with during the rotational speed of using vibration transducer to record is carried out on identical time period those time periods of integration, record.Then very simply by T.T. obtaining mean value to the summation of each integration and divided by what measure that rotational speed consumes, this mean value has provided the final assessment to rotational speed.
Method of the present invention makes especially can to improve to utilizing the realization of application of the assessment of constant rotational speed, especially seeks north or realizes the application of aiming at respect to reference element.
Fig. 3 and Fig. 4 illustrate and seek northern application, and wherein, inertial equipment comprises with respect to terrestrial globe 16 and keeps staying fixed vibration transducer 1.The given rotational speed of the earth around its north and south axle, its axis of symmetry is parallel to the vibration transducer 1 extending through the tangent line of sensor or parallel 17 (that is, with east-west direction) can not any rotation of perception.From sensor, be subject to the orientation of non-zero rotational speed effect, the method that realizes this application comprises step 20 according to known way: by the rotational speed of the rotational speed of sensor and reference element (, for carrier on ground, be the rotation of terrestrial globe) compare, and step 21: the triangle formula that the function by application using the component of the rotation of vibration transducer as its orientation provides is determined the orientation of sensor.By the degree of accuracy of method assessment rotational speed of the present invention, make to realize this for determining northern application with improved degree of accuracy.In order to obtain best degree of accuracy when determining the north, gyrostatic axis of symmetry is preferably placed in roughly at east-west direction.
When aiming at inertial equipment before voyage, inertial equipment preferably has three vibration transducers, and the axle of these three vibration transducers is arranged on three orthogonal directionss.
According to a further aspect in the invention, the position of revising vibration provides and has carried out the comparison 22 between precession control signal and the variation of vibration position and carry out and calculate 23 to obtain the chance of the scale factor through upgrading with assessment rotational speed, and this scale factor can be by immediately for assessment of the rotational speed of vibration transducer.
Each step of method of the present invention is preferably realized by the software of bringing in control module 6, and this control module 6 combines to form inertial equipment with vibration transducer.
Naturally, the invention is not restricted to described each and realize, can to its carry out those skilled in the art apparent distortion and do not exceed the scope of the present invention that claim limits.
Particularly, although described application is for stay fixed vibration transducer with respect to ground, method of the present invention also can be used for inertial equipment when airborne by the carrier with respect to ground moving.
Although the gyroscope that the present invention is two (n=2) with reference to exponent number is described, it is applicable to the gyroscope that exponent number is higher too.
Angle between position can be identical or different, and similarly, the duration of carrying out assessment in each position can be identical or different.
The number of position can be greater than 2N+1.
Method of the present invention realizes serially, for example,, by means of angle or attitude angle integration (using freedom and/or rate gyroscope to measure) or by means of navigation integration (using subsequently freedom and/or rate gyroscope to measure together with accelerometer measures) and Kalman (Kalman) wave filter of having included the error model that is applicable to these sensors in.
Method of the present invention can comprise the following steps:
Calculate the mean value of assessment;
Calculate average harmonic wave drift; And
From the mean value of assessment, deduct average harmonic wave drift.
Except these steps of this method, can also carry out correction.
Claims (10)
1. the method for the rotational speed of a definite Axisymmetrical Vibration sensor (7), described sensor has the vibrating member (1) associated with control electrode (4) and detecting electrode (5), using to produce to have and present the periodic deformation in n rank and there is the vibration as the variable position (θ) of the function of the rotation of described sensor, described method is characterised in that, comprises the following steps:
Adjoining land is assessed described vibration with respect to the rotational speed that is at least 2N+1 position of described control electrode and detecting electrode, described position is geometrical offset relative to each other, and uses the scale factor of setting up in advance, by application precession control signal, described vibration is moved on to another position from a position;
The order of identifying described vibration from 2N+1 assessment is up at least one harmonic wave drift of N; And
For deducting at least one assessment of identified harmonic wave drift, determine rotational speed.
2. the method for claim 1, comprises the step that deducts described harmonic wave drift and these assessments are averaged from a plurality of assessments.
3. the method for claim 1, comprises the following steps:
Calculate the mean value of described assessment;
Calculate average harmonic wave drift; And
From the described mean value of described assessment, deduct described average harmonic wave drift.
4. as method in any one of the preceding claims wherein, it is characterized in that, before adjoining land is assessed the step of described vibration with respect to the rotational speed that is at least 2N+1 position of described control electrode and detecting electrode, comprise that the location of controlling described vibration is selected such that to occupy corresponding detection signal presents the step of angle of the value of non-zero.
5. the method as described in any one in claim 1-3, is characterized in that, comprises the following steps:
Described precession control signal is compared with the variation of actual corresponding angle (22); And
Therefrom derive described scale factor through renewal value (23).
6. method as claimed in claim 2, is characterized in that, comprises the following steps:
Measure the variation (18) of the rotational speed of described sensor; And
When setting up the mean value of the rotational speed evaluating, by algebraic method, deduct measured variation.
7. an inertial equipment, comprise the Axisymmetrical Vibration sensor (7) with the vibrating member (1) associated with control electrode (4) and detecting electrode (5), and for exciting described sensor with vibrative device (6), described equipment is characterised in that, comprise for assessment of described sensor the device (9) with respect to the rotational speed of each position in 2N+1 position of described control electrode and detecting electrode in described vibration, for apply precession control signal until described vibration arrives the device (10) of each position of a described 2N+1 position when using the scale factor of setting up in advance, and the device that is up at least one harmonic wave drift of N and determines described rotational speed from described at least one assessment deduct this at least one harmonic wave drift identifying from least one assessment after for identifying the order of described vibration.
8. inertial equipment as claimed in claim 7, is characterized in that, described identification and determining device are set to deduct described harmonic wave drift from a plurality of assessments and these assessments are averaged.
9. equipment as claimed in claim 7, is characterized in that, comprising:
For each precession control signal is changed to the device (22) of comparing with actual corresponding angle; And
The device through renewal value (23) for the described scale factor of deriving.
10. equipment as claimed in claim 7, is characterized in that, comprising:
For measuring the device (18) of variation of the rotational speed of described sensor; And
For deduct the device of measured variation in the mean value setting up the rotational speed evaluating by algebraic method.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0807441A FR2940425B1 (en) | 2008-12-23 | 2008-12-23 | METHOD FOR DETERMINING A ROTATIONAL SPEED OF AN AXISYMETRIC VIBRANT SENSOR, AND INERTIAL DEVICE USING THE METHOD |
| FR0807441 | 2008-12-23 | ||
| PCT/FR2009/001470 WO2010072922A1 (en) | 2008-12-23 | 2009-12-22 | Method for determining the rotation speed of an axisymmetrical vibrating sensor and inertial device for implementing said method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102265113A CN102265113A (en) | 2011-11-30 |
| CN102265113B true CN102265113B (en) | 2014-11-19 |
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| CN200980152866.1A Active CN102265113B (en) | 2008-12-23 | 2009-12-22 | Method for determining the rotation speed of an axisymmetrical vibrating sensor and inertial device for implementing said method |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2368088B1 (en) |
| CN (1) | CN102265113B (en) |
| FR (1) | FR2940425B1 (en) |
| WO (1) | WO2010072922A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107843740B (en) * | 2017-10-31 | 2019-11-29 | 湖南大学 | A kind of rotating speed measurement method of fusion vibration and voice signal spectrum signature |
| FR3120121B1 (en) * | 2021-02-19 | 2023-04-28 | Thales Sa | METHOD FOR CORRECTING THE MEASUREMENT OF A VIBRATING ANGULAR INERTIAL SENSOR |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1445580A1 (en) * | 2003-02-06 | 2004-08-11 | Sagem S.A. | A method for operating a resonator comprising an electrostatic actuation |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7437253B2 (en) * | 2004-07-29 | 2008-10-14 | The Boeing Company | Parametrically disciplined operation of a vibratory gyroscope |
| FR2920224B1 (en) * | 2007-08-23 | 2009-10-02 | Sagem Defense Securite | METHOD FOR DETERMINING A ROTATIONAL SPEED OF AN AXISYMETRIC VIBRANT SENSOR, AND INERTIAL DEVICE USING THE METHOD |
-
2008
- 2008-12-23 FR FR0807441A patent/FR2940425B1/en active Active
-
2009
- 2009-12-22 WO PCT/FR2009/001470 patent/WO2010072922A1/en active Application Filing
- 2009-12-22 EP EP09804283.1A patent/EP2368088B1/en active Active
- 2009-12-22 CN CN200980152866.1A patent/CN102265113B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1445580A1 (en) * | 2003-02-06 | 2004-08-11 | Sagem S.A. | A method for operating a resonator comprising an electrostatic actuation |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2010072922A1 (en) | 2010-07-01 |
| EP2368088B1 (en) | 2018-11-14 |
| CN102265113A (en) | 2011-11-30 |
| EP2368088A1 (en) | 2011-09-28 |
| FR2940425A1 (en) | 2010-06-25 |
| FR2940425B1 (en) | 2011-01-14 |
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